A system for autonomous control of a machine having a ground-engaging work implement includes a position sensor and a controller. The controller is configured to determine the position of a work surface based upon the position signals and select a work zone loading profile for a work zone cut location along a path within a work zone and the work zone loading profile has a work zone cut angle relative to a ground reference. The controller is further configured to select a final cut loading profile for a final cut location along the path adjacent the boundary zone with the final cut loading profile having a final cut angle relative to the ground reference. The final cut angle is steeper than the work zone cut angle.